Swift PGM EVK User manual

PGM EVK User Manual
Revision 4.0
UM-110007-04
12-14-2021

PGM EVK User Manual / UM-110007-04
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Table of Contents
Table of Contents 2
Introduction 4
Firmware Version & Updates 5
Technical Support 5
Used Acronyms 5
PGM EVK Contents 6
EVP Overview 7
Connections 7
Operating Conditions 8
Power 8
GNSS Antenna 9
Initial PGM EVP Setup 9
Connecting Antennas & Power 9
Connecting A Computer To The PGM EVP 10
Direct Wi-Fi Connection 10
Ethernet Connection 12
Monitoring PGM EVP Using Swift Console 13
Swift Console Installation 13
Connecting PGM EVP To The Swift Console 14
Accessing The PGM EVP To Configure & Change Settings 16
Accessing The PGM EVP Through Wi-Fi Or Ethernet 16
SSH Into The PGM EVP Using Windows 16
SSH Into the PGM EVP Using MacOS / Linux 18
Accessing The PGM EVP Directly With Keyboard & Monitor 19
Directory of Files 20
Connecting The PGM EVP To The Internet 20
Internet Access Using Ethernet 21
Internet Access Using Wi-Fi 22
Applying Skylark Corrections 25
Obtaining Skylark NTRIP Credentials 25
Configuring Starling For Skylark Corrections 25
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Vehicle Installation 28
Mounting The PGM EVP 28
Starling Vehicle Settings 28
Vehicle Signals 30
Logging Data Using Swift Console 31
NMEA Output 31
Appendices 32
Appendix A - Firmware Update 32
Option 1: Automated Procedure 32
Option 2: Manual Procedure 32
Appendix B - Starling License Activation 34
Appendix C - Orientation Settings 35
Appendix D - Configuration Files and Directory 36
Files Description: 36
Control Scripts 37
Appendix E – Other Available Software Tools 38
Woodpecker Log Utility 38
Drongo Maps 38
sbp2report 38
Appendix F – Hardware Specifications 39
Appendix G – Related Information 40
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Introduction
This document provides complete setup, configuration, and operating details for Swift Navigation’s Precision
GNSS Module (PGM) Evaluation Kit (EVK).
A PGM EVK Quick Start Guide is also available for a quick and basic initial setup of your PGM EVK. You can
download the PGM EVK Quick Start Guide at Support > Products > Precision GNSS Module (PGM) > Quick
Start Guide
For better accuracy and performance, the PGM Evaluation Platform (EVP) that is included with the PGM EVK
can be used with Swift’s Skylark cloud-based precise corrections service. A 6-month free trial of Skylark is
included with the PGM EVK. A promotion code and instructions for activating the Skylark service are
provided upon purchase of the PGM EVK. If a promotion code and instructions have not been received,
please do contact Swift.
Figure 1: PGM EVP with GNSS antenna & power supply
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Firmware Version & Updates
Swift Navigation is continuously improving the Starling performance and it’s important to ensure that your
PGM EVP has the latest version of the software installed.
Use instructions in Appendix A - Firmware Update to update your EVP to the latest version of the available
software.
The Starling program from version 1.4 requires license activation to operate. PGM Evaluation Kits
shipped after June 2021 already have the license activated. Older units require license activation after
upgrading to Starling v1.4 or newer. Refer to Appendix B - Starling License Activation for detailed license
activation instructions.
Technical Support
This manual describes the operation of the PGM EVP running software package version 1.6.0.
For additional information about using the PGM EVK, FAQs, or to request assistance, please visit
support.swiftnav.com/
Used Acronyms
Like any technical product, many acronyms are used. For clarity and convenience, the following are the
Swift-specific acronyms used within this User Manual.
●PGM - Precision GNSS Module
●EVK - Evaluation Kit (including the Platform and all accessories)
●EVP - Evaluation Platform (OnLogic IoT Computer w/ PGM )
●SBP - Swift Binary Protocol
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PGM EVK Contents
The PGM EVK includes everything needed to setup and start evaluating the performance of Swift’s location
technology. Included with your PGM EVK are the following items.
Figure 2: PGM EVK Contents
1. GNSS L1/L5 magnet-mount antenna
2. PGM Evaluation Platform (EVP)
3. Wi-Fi antennas
4. RS232 serial port adapter cable
5. USB drive
6. RS232 null modem adapter
7. Vehicle signals cable
8. Power supply cable for direct 12 V
supply
9. 12 V DC power supply 100-240 V AC
input with international plugs
10. RJ45 Ethernet cable
11. Display Port to HDMI adapter cable
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EVP Overview
The PGM EVK features Swift’s PGM Evaluation Platform (EVP) consisting of a Swift mPCIe format PGM
receiver (with integrated IMU and CAN / wheel tick odometry support) installed in an OnLogic IoT computer
that hosts Swift’s Starling positioning engine. The PGM EVP provides real-time precision GNSS and IMU
measurements and provides a turn-key platform that can be used to evaluate the performance of Swift’s PGM
receiver, hosted Starling positioning engine, and the Skylark cloud-based correction service.
Connections
The connections available on the PGM EVP are as follows:
Figure 3: PGM EVP connectors
1. Wi-Fi antenna RP (Reverse Polarity) SMA connector
2. GNSS antenna SMA connector
3. Vehicle signals (VSS and Reverse) receptacle (Hirose HR10A-7R-6P(73))
4. Wi-Fi antenna RP (Reverse Polarity) SMA connector
5. Micro SD card slot (Linux image)
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Figure 4: PGM EVP connectors (continued)
1. 12 V power supply. 2.5/5.5 mm barrel jack connector, positive in the center
2. USB 2.0 port connector
3. RS232 serial port connector (use adapter cable for DB 9 connector)
4. Power button and power status LED
5. Two USB 3.0 port connectors
6. Ethernet port RJ45 connector
7. Mini DisplayPort connector
8. IMU orientation labels. The orange dot indicates the IMU center (GNSS antenna lever arm
measurement reference point).
Operating Conditions
Input Voltage: 12V DC
Power: 6W (~0.5A @ 12V DC) during normal operation
Operating Temperature: 0°C - 40°C (non-condensing relative humidity of 10-90%)
Environmental: Not rated (additional protection required for outdoor use)
Power
The provided power supply can be used with any AC input between 100 and 240 V and provides 12 V DC to
the EVP. If a different power supply is used, it must provide a 12 V / 3 A DC output.
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GNSS Antenna
PGM EVP requires an active GPS/Galileo/BeiDou L1/L5 antenna. In the kit, an Amotech L1/L5 antenna is
included for evaluation. The EVP provides 3.3 V antenna bias voltage through the SMA antenna connector
(max. 100 mA). For the best results the chosen antenna LNA gain should be between 15 to 25 dB and with NF
< 2-3 dB.
The provided GNSS antenna should be mounted on a ground plane. A typical car’s roof is a good ground
plane. If the antenna is not mounted on an automobile roof, place a round or square metal plate of 10 to 15
cm (4” to 6”) radius under the antenna.
Initial PGM EVP Setup
This section provides details on how to set up the EVP for basic operation. Beyond this basic setup, there are
features such as using the Skylark correction service and providing vehicle signals. Details of how to obtain
Skylark corrections and vehicle signals are provided in later chapters.
Basic setup of the EVK EVP includes (Figure 5):
1. Connecting all antennas and power.
2. Connecting to a computer for viewing EVP operation.
Connecting Antennas & Power
To connect antennas and power to the PGM EVP:
1. Connect the provided GNSS antenna to the central SMA connector and place the antenna in a
position where it has a clear view of the sky.
2. Connect both of the Wi-Fi antennas to the SMA connectors on the EVP.
3. Connect the EVP to power using the provided power supply.
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Figure 5: PGM EVP with GNSS antenna, Wi-Fi antennas, & power
1. Amotech GNSS L1/L5 magnet-mount antenna
2. Wi-Fi Antennas
3. PGM Evaluation Platform (EVP)
4. Power Supply (12V)
Connecting A Computer To The PGM EVP
In order to monitor the operation of the PGM EVP, it must be connected to a computer. There are two
different ways to connect a computer to the PGM EVP to monitor it’s operation.
1. A direct Wi-Fi connection
2. Via Ethernet
Direct Wi-Fi Connection
Figure 6: Direct connection to the PGM EVP using Wi-Fi
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To connect directly to the PGM EVP via Wi-Fi from your computer:
1. Apply power to the PGM EVP if not done so already.
Within approximately 3 minutes from power up, the PGM EVP will create a Wi-Fi network access
point named SwiftNav-PEP-xxxx, where the last 4 digits of the network name are the last 4
digits of the serial number of the platform. The default IP address of the EVP on the Wi-Fi Access
Point is 10.42.0.1.
2. Open the Wi-Fi network selection window on your computer.
3. Select the Wi-Fi network called SwiftNav-PEP-xxxx.
Figure 7: Wi-Fi network selection
4. When prompted, enter the Wi-Fi network password. By default, this is swiftnav.
You should now be connected to the PGM EVP.
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Ethernet Connection
Figure 8: Connecting to the PGM EVP using Ethernet
An alternative method of connecting your computer to the PGM EVP is by using an ethernet cable to connect
via a router or cell modem. To do this however, the cell modem or router must have a DHCP server.
To connect your computer to the PGM EVP using ethernet:
1. Connect the EVP’s ethernet port to the modem/router using the ethernet cable provided.
2. Power-up the PGM EVP and wait 3 minutes for boot-up.
3. You will now need to find the IP address of PGM EVP for use with Swift Console. There are two
common ways of doing this:
a. Listing All Connected Devices – List all devices connected to your network by typing the
following command in your computer’s terminal : arp -a Then, compare the list before
and after connecting the PGM EVP to distinguish the IP address assigned. This method works
with MacOS, Linux (Shell terminal) and Windows (CMD) terminals.
i. On MacOS and Linux, search for “Terminal” in the Applications to open the terminal.
ii. On Windows, search for “CMD” in the search bar to open the terminal.
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Figure 9: Listing Devices on Network to Find Assigned IP Address
b. Modem/Router dashboard – Use the modem/router’s dashboard to view a list of connected
devices. The dashboard should list the IP address of the PGM EVP once it has been assigned.
Comparing the list before and after connecting the PGM EVP will distinguish the IP address
assigned.
You should now be connected to the PGM EVP and have the IP address needed to be used with Swift Console.
NOTE: The PGM EVP Ethernet network can also be set to static IP if required for networks without a DHCP
server. Details about the ethernet configuration file can be found in the section Appendix D - Configuration
Files and Directory For unique networking circumstances, additional support can be provided through the
Swift Support Portal.
Monitoring PGM EVP Using Swift Console
The Swift Console is a Graphic User Interface (GUI) program that can be used to view and monitor operation
of the PGM EVP and be used to log data.
NOTE: Swift Console currently does not support firmware upgrades or configuration of the PGM EVP.
Swift Console Installation
Download and install the latest Swift Console on your computer from: swiftnav.com/latest/swift-console
Reconnection to the local Wi-Fi network may be required to gain internet access for downloading the console.
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Connecting PGM EVP To The Swift Console
To connect Swift Console to your PGM EVP either directly using the Wi-Fi or through Ethernet:
1. Launch Swift Console.
The Swift Console interface selection dialog will appear.
Figure 10: Connecting Swift Console to a device
2. Select the TCP/IP option and enter the IP address 10.42.0.1 if connecting directly to the PGM
EVP’s Wi-Fi. If you are connecting to the PGM EVP using ethernet, you will need to enter the Ethernet
network IP address.
3. For the IP Port, enter 55555 or 55556.
By default, port 55555 is configured to output only the subset of SBP messages which are required
for external applications to consume positioning output from Starling, whereas port 55556 is
configured to output all supported messages. This means that certain functionality (e.g. visualization
of IMU data) is only available when connected to port 55556. Alternatively, the Starling configuration
file (config.yaml) file may be modified to remove message filtering on port 55555.
4. Click OK.
The Swift Console Tracking window will open and show the satellite signals being received.
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Figure 11: Swift Console tracking window
For full details and operation of the Swift Console, refer to the Swift Console User’s Guide. The Swift Console
User’s Guide can be found at Swift Console User's Guide.
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Accessing The PGM EVP To Configure & Change Settings
The PGM EVP consists of an OnLogic IoT computer which runs Linux. The terminal of the Linux OS must be
accessed in order to configure the operational aspects of the PGM EVP including configuring Starling and
setting up internet access. Once connected to the EVP, various scripts are accessible through the terminal for
configuring and changing settings of the EVP.
There are two ways to access the PGM EVP:
1. If your computer is connected via Ethernet or Wi-Fi, then a Secure Shell (SSH) connection can be
established to access the Linux terminal.
2. Using a screen and USB keyboard to plug directing into the PGM EVP.
NOTE: The default username and password that are needed to SSH into the EVP are:
Default Username : swiftnav
Default Password : swiftnav
Accessing The PGM EVP Through Wi-Fi Or Ethernet
If the PGM EVP is connected to your computer via Ethernet or Wi-Fi access point, then an SSH connection can
be established to the Linux OS onboard. Please refer to this SSH Basics Tutorial for more information on how
to use a SSH client on Linux.
If connected to your computer using EVP’s Wi-Fi access point, the IP address of the device is 10.42.0.1. If
you are using Ethernet, the assigned IP address of the device must be found. Instructions for locating the IP
address of the device can be found in the section Ethernet Connection.
SSH Into The PGM EVP Using Windows
To SSH into the PGM EVP you will need to use an SSH client. There are many options. PuTTY is a common
and recommended SSH client. The following instructions assume that the PuTTY client is being used.
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To SSH into the PGM EVP using Windows:
1. Download and install the SSH client PuTTY.
2. Launch PuTTY and open a connection to the PGM EVP by entering the IP address as shown in the
figure below.
Figure 12: Connecting to the PGM EVP using PuTTY
3. Click Open.
A PuTTY security alert will be displayed the first time PuTTY is used. Click Yes to continue. This will
be displayed only once.
4. At the Login when prompted, type swiftnav and press ENTER.
5. When prompted for the password, enter the default password of swiftnav and press enter.
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Figure 13: PuTTY terminal window after connecting to the PGM EVP
You are now connected to the PGM EVP and can configure and change settings of the PGM EVP through SSH.
SSH Into the PGM EVP Using MacOS / Linux
The terminal application that comes with MacOS has a built-in SSH client and can be used to SSH into the
PGM EVP. To SSH into the EVP using MacOS or Linux:
1. Ensure your computer is connected to the PGM EVP over Wi-Fi or connected via Ethernet.
2. Launch the Terminal application in MacOS.
3. Type the command ssh [email protected] (or another IP address) and press enter.
You will be prompted for a password.
4. Type the password swiftnav and press ENTER.
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Figure 14: Terminal window after connecting to the PGM EVP
You are now connected to the PGM EVK and can configure and change settings of the PGM EVP through SSH.
Accessing The PGM EVP Directly With Keyboard & Monitor
A simple way of getting access to the Linux terminal on the PGM EVP is to connect a monitor and a keyboard
directly to the unit itself.
Figure 15: Direct access to the PGM EVP using a keyboard and monitor
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To access the Linux terminal using a monitor and keyboard:
1. Connect a monitor to the HDMI port on the PGM EVP using the provided HDMI cable.
2. Connect a USB keyboard to any one of the USB ports on the PGM EVP.
3. Power up the EVP .
Once powered up, the monitor will display the booting process of the PGM EVP and you will be
prompted to enter the username and password of the PGM EVP.
4. Enter the username and then the password of the PGM EVP when prompted. The default login
credentials are:
Default Username : swiftnav
Default Password : swiftnav
You are now connected to the PGM EVP and can configure and change settings of the PGM EVP
through SSH.
Directory of Files
Once access is established, all files and folders on the computer will be available for Starling configuration,
Wi-Fi settings and various other PGM EVP configuration and operation. A detailed list of scripts and files is
available in Appendix D - Configuration Files and Directory.
Connecting The PGM EVP To The Internet
In order to update the firmware and software of the PGM EVP and to obtain Skylark RTK corrections, the PGM
EVP must have internet access. There are two methods of connecting the PGM EVP to the internet:
1. Connecting via Ethernet
2. Connecting via Wi-Fi
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